基于视觉检测的机器人分拣系统设计  

Sorting System of Robot Based on Vision Detection

作　　者：朱冬冬[1,2] 秦琴[1,2] 屠子美 洪剑雄 ZHU Dongdong;QIN Qin;TU Zimei;HONG Jianxiong(School of Environmental and Materials Engineering,Shanghai Polytechnic University,Shanghai201209,China;School of Intelligent Manufacturing and Control Engineering,Shanghai Polytechnic University,Shanghai201209,China)

机构地区：[1]上海第二工业大学环境与材料工程学院,上海201209 [2]上海第二工业大学智能制造与控制工程学院,上海201209

出　　处：《上海第二工业大学学报》2017年第4期258-263,共6页Journal of Shanghai Polytechnic University

基　　金：上海第二工业大学研究生项目基金(EGD16YJ025);上海第二工业大学校重点学科(XXKZD1603)资助

摘　　要：针对工业流水线分拣作业的需求设计了一套基于视觉检测的工业机器人分拣系统。系统采用工业相机获取工件图像和对应QR码标签信息,通过图像识别方法进行工件识别并计算工件中心坐标,将工件坐标统一至机器人坐标系并与机器人建立通信,控制机器人准确抓取并分拣工件。本系统主控计算机采用Lab VIEW编程实现图像采集、图像处理与坐标变换等任务,并通过安川公司提供的MOTOCOM32.dll与机器人控制器建立实时通信。该系统具有较高的运行速度和准确度,可应用于工业流水线自动化分拣作业领域。According to industrial assembly line sorting activities,thesorting system ofindustrial robot wasdesigned based on vision detection.This system used industrial camera to obtain workpiece images and corresponding QR code label information.The workpiece recognition method was used to identify the workpiece and calculate the center coordinates of the workpiece which were unified to the robot coordinate system and communicated with the robot.The robot could accurately grasp and sort the workpiece.The system used LabVIEW to achieve image acquisition,image processing and coordinate transformation tasks.And it used MOTOCOM32.dll which provided by Yaskawa company to establish real-time communicationwith robot controller.The system had a high running speed and accuracy,and could be applied to automatic sorting operations in the industrial assembly line.

关 键 词：工业机器人 机器视觉 自动化分拣 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]